Anatomical shoulder range of motion device

Abstract

A shoulder range of motion machine includes a stationary base frame and a shoulder-manipulation mechanism including a movable base frame supported on the stationary base frame for at least pivoting motion about a main vertical axis. A horizontal linear actuator is configured to drive the movable base frame in at least pivoting motion with respect to the stationary base frame about the main vertical axis. A vertical support is mounted on the movable base frame. An arm-carrier support is mounted on the vertical support for at least pivoting motion about a main horizontal axis. An arm-carrier-angle linear actuator is configured to drive the arm-carrier support in at least pivoting motion with respect to the vertical support about the main horizontal axis. An arm carrier is mounted on the arm-carrier support. A controller is operatively connected to at least one of the horizontal linear actuator or the arm-carrier-angle linear actuator.

We claim: 
     
         1 . A shoulder range of motion machine comprising:
 a stationary base frame;   a shoulder-manipulation mechanism including: a movable base frame at least pivotably supported on the stationary base frame for at least pivoting motion with respect to the stationary base frame about a main vertical axis;   a horizontal linear actuator having a proximal portion and a distal portion, the proximal portion secured to the stationary base frame, and the distal portion attached to the movable base frame and configured to drive the movable base frame in at least pivoting motion with respect to the stationary base frame about the main vertical axis;   a vertical support mounted on the movable base frame and extending vertically with respect thereto;   an arm-carrier support at least pivotably mounted on the vertical support for at least pivoting motion with respect to the vertical support about a main horizontal axis;   an arm-carrier-angle linear actuator having a lower end portion and an upper portion, the lower end portion secured to the vertical support, and the upper portion attached to the arm-carrier support and configured to drive the arm-carrier support in at least pivoting motion with respect to the vertical support about the main horizontal axis; and   an arm carrier mounted on the arm-carrier support; and   a controller operatively connected to at least one of the horizontal linear actuator or the arm-carrier-angle linear actuator to control extension and contraction thereof,   the shoulder-manipulation mechanism further comprising: an upper geared hinge at least pivotably connecting the arm-carrier support to the vertical support the upper geared hinge including:
 a main shaft non-rotatably attached to the vertical support; 
 a first sun gear non-rotatably attached to the main shaft; 
 a carrier body rotatably attached to the main shaft; 
 a planet shaft rotatably mounted with respect to the carrier body; and 
 a first planet gear non-rotatably mounted with respect to the planet shaft to rotate together with the planet shaft; 
 wherein the first sun gear and the first planet gear mesh and cooperate to be 
   drivingly connected to provide a first phase of movement of the arm-carrier support with respect to the vertical support,   wherein the upper geared hinge further comprises: a second sun gear non-rotatably attached to the main shaft; and   a second planet gear non-rotatably mounted with respect to the planet shaft to rotate together with the planet shaft;   wherein the first sun gear and the first planet gear mesh and cooperate to be drivingly connected to provide a first phase of movement of the arm-carrier support with respect to the vertical support, and   wherein the second sun gear and the second planet gear mesh and cooperate to be drivingly connected to provide a second phase of movement of the arm-carrier support with respect to the vertical support.   
     
     
         2 . The shoulder range of motion machine of  claim 1 , wherein the first planet gear has a first-planet-gear toothed portion having a radius and extending less than 30 degrees with respect to the planet shaft, the first-planet-gear toothed portion engaging and meshing with a first-sun-gear toothed portion of the corresponding first sun gear, the first-sun-gear toothed portion having a radius, wherein the first-planet-gear toothed portion and the first-sun-gear toothed portion engage and mesh for less than 30 degrees of rotation of the first planet gear from a lowered position to provide the first phase of movement of the arm-carrier support with respect to the vertical support;
 wherein upon the planet shaft completing less than 30 degrees of partial rotation from the lowered position, further relative rotation of the first planet gear and the first sun gear causes the first-planet-gear toothed portion and the first-sun-gear toothed portion to disengage; and   wherein as the first-planet-gear toothed portion and the first-sun-gear toothed portion disengage, a second-planet-gear toothed portion of the second planet gear engages and meshes with a second-sun-gear toothed portion of the second sun gear, so that the second planet gear cooperates with the second sun gear to provide the second phase of movement of the arm-carrier support with respect to the vertical support.   
     
     
         3 . The shoulder range of motion machine of  claim 2 , wherein at least one of the first planet gear or the first sun gear is a mutilated gear, and at least one of the second planet gear or the second sun gear is a mutilated gear. 
     
     
         4 . The shoulder range of motion machine of  claim 2 , further comprising:
 a lower geared hinge at least pivotably connecting the movable base frame to the stationary base frame, the lower geared hinge including:   a main shaft non-rotatably attached to the stationary base frame;   a sun gear non-rotatably attached to the main shaft;   a carrier body rotatably attached to the main shaft;   a planet shaft rotatably mounted with respect to the carrier body;   a planet gear non-rotatably mounted with respect to the planet shaft to rotate together with the planet shaft;   wherein the sun gear and the first planet gear mesh and cooperate to be drivingly connected to provide at least pivoting movement of the movable base frame with respect to the stationary base frame.   
     
     
         5 . The shoulder range of motion machine of  claim 4 , further comprising:
 a support post attached to the stationary base frame; and   a seat rotatably supported by the support post on the stationary base frame.   
     
     
         6 . The shoulder range of motion machine of  claim 4 , wherein the movable base frame comprises a tubular base member slidably and lockably engaging an indexing member,
 and wherein the vertical support is supported on the indexing member so that sliding the indexing member with respect to the tubular base member alters a position of the vertical support with respect to the main vertical axis of rotation.   
     
     
         7 . The shoulder range of motion machine of  claim 1 , wherein the first planet gear has a first-planet-gear toothed portion having a radius and extending about 30 degrees with respect to the planet shaft, the first-planet-gear toothed portion engaging and meshing with a first-sun-gear toothed portion of the corresponding first sun gear, the first-sun-gear toothed portion having a radius, wherein the first-planet-gear toothed portion and the first-sun-gear toothed portion engage and mesh for about 30 degrees of rotation of the first planet gear from a lowered position to provide the first phase of movement of the arm-carrier support with respect to the vertical support;
 wherein upon the planet shaft completing about 30 degrees of partial rotation from the lowered position, further relative rotation of the first planet gear and the first sun gear causes the first-planet-gear toothed portion and the first-sun-gear toothed portion to disengage; and   wherein as the first-planet-gear toothed portion and the first-sun-gear toothed portion disengage, a second-planet-gear toothed portion of the second planet gear engages and meshes with a second-sun-gear toothed portion of the second sun gear, so that the second planet gear cooperates with the second sun gear to provide the second phase of movement of the arm-carrier support with respect to the vertical support.   
     
     
         8 . The shoulder range of motion machine of  claim 7 , wherein at least one of the first planet gear or the first sun gear is a mutilated gear, and at least one of the second planet gear or the second sun gear is a mutilated gear. 
     
     
         9 . The shoulder range of motion machine of  claim 1 , further comprising:
 a lower geared hinge at least pivotably connecting the movable base frame to the stationary base frame, the lower geared hinge including:   a main shaft non-rotatably attached to the stationary base frame;   a sun gear non-rotatably attached to the main shaft;   a carrier body rotatably attached to the main shaft;   a planet shaft rotatably mounted with respect to the carrier body;   a planet gear non-rotatably mounted with respect to the planet shaft to rotate together with the planet shaft;   wherein the sun gear and the first planet gear mesh and cooperate to be drivingly connected to provide at least pivoting movement of the movable base frame with respect to the stationary base frame.   
     
     
         10 . The shoulder range of motion machine of  claim 9 , further comprising:
 a support post attached to the stationary base frame; and   a seat rotatably supported by the support post on the stationary base frame.   
     
     
         11 . The shoulder range of motion machine of  claim 9 , wherein the movable base frame comprises a tubular base member slidably and lockably engaging an indexing member to provide length adjustment of the movable base frame,
 and wherein the vertical support is supported on the indexing member so that sliding the indexing member with respect to the tubular base member alters a position of the vertical support with respect to the main vertical axis of rotation.   
     
     
         12 . The shoulder range of motion machine of  claim 9 , wherein the vertical support comprises a lower portion mounted to the movable base frame, and the vertical support further comprises an upper portion movably engaged with the lower portion; and
 wherein an arm-support-length linear actuator is attached to the lower portion and the upper portion and configured to extend or retract the upper portion with respect to the lower portion, thereby extending or contracting the vertical support to align the arm-carrier support at a selected height.   
     
     
         13 . The shoulder range of motion machine of  claim 1 , wherein the vertical support is configured to be removably securable in a first orientation and a second orientation with respect to the movable base frame, the first orientation and the second orientation differing in being rotated with respect to a vertical axis by 180 degrees, so that the vertical support and the arm-carrier support together may be selectably placed in the first orientation or the second orientation. 
     
     
         14 . The shoulder range of motion machine of  claim 13 , wherein the arm carrier is configured to be removably securable in a first orientation and a second orientation with respect to the arm-carrier support, the first orientation and the second orientation differing in being rotated with respect to the arm-carrier support by 180 degrees, so that the arm carrier may be selectably placed in the first orientation or the second orientation. 
     
     
         15 . The shoulder range of motion machine of  claim 1 , wherein the vertical support is configured to be securable in a first orientation and a second orientation with respect to the movable base frame, the first orientation and the second orientation differing in being rotated with respect to a vertical axis by 180 degrees, so that the vertical support and the arm-carrier support together may be selectably placed in the first orientation or the second orientation, and wherein the vertical support is configured to be rotatable from the first orientation to the second orientation with the vertical support remaining supported on the stationary base frame. 
     
     
         16 . The shoulder range of motion machine of  claim 1 , wherein the arm carrier is configured to be removably securable in a first orientation and a second orientation with respect to the arm-carrier support, the first orientation and the second orientation differing in being rotated with respect to the arm-carrier support by 180 degrees, so that the arm carrier may be selectably placed in the first orientation or the second orientation. 
     
     
         17 . The shoulder range of motion machine of  claim 1 , wherein the vertical support comprises a lower portion mounted to the movable base frame, and the vertical support further comprises an upper portion movably engaged with the lower portion; and
 wherein an arm-support-length linear actuator is attached to the lower portion and the upper portion and configured to extend or retract the upper portion with respect to the lower portion, thereby extending or contracting the vertical support to align the arm-carrier support at a selected height.   
     
     
         18 . The shoulder range of motion machine of  claim 1 , wherein the arm-carrier support further comprises:
 an axially fixed member;   an axially movable member movably attached to the axially fixed member;   a reach-movement linear actuator configured to move the axially movable member with respect to the axially fixed member,   wherein the arm carrier is operatively connected to the axially movable member to move with the axially movable member.